# EstimatorInnovations (UORB message)



[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg)

```c
uint64 timestamp        # time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

# GPS
float32[2] gps_hvel # horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32    gps_vvel # vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] gps_hpos # horizontal GPS position innovation (m) and innovation variance (m**2)
float32    gps_vpos # vertical GPS position innovation (m) and innovation variance (m**2)

# External Vision
float32[2] ev_hvel  # horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32    ev_vvel  # vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] ev_hpos  # horizontal external vision position innovation (m) and innovation variance (m**2)
float32    ev_vpos  # vertical external vision position innovation (m) and innovation variance (m**2)

# Height sensors
float32 rng_vpos    # range sensor height innovation (m) and innovation variance (m**2)
float32 baro_vpos   # barometer height innovation (m) and innovation variance (m**2)

# Auxiliary velocity
float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
float32    aux_vvel # vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)

# Optical flow
float32[2] flow     # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
float32[2] terr_flow    # flow innvoation (rad/sec) and innovation variance computed by the terrain estimator ((rad/sec)**2)

# Various
float32 heading     # heading innovation (rad) and innovation variance (rad**2)
float32[3] mag_field    # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
float32[3] gravity  # gravity innovation from accelerometerr vector (m/s**2)
float32[2] drag     # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
float32 airspeed    # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
float32 beta        # synthetic sideslip innovation (rad) and innovation variance (rad**2)
float32 hagl        # height of ground innovation (m) and innovation variance (m**2)
float32 hagl_rate   # height of ground rate innovation (m/s) and innovation variance ((m/s)**2)

# The innovation test ratios are scalar values. In case the field is a vector,
# the test ratio will be put in the first component of the vector.

# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios

```
